A software algorithm for the intelligent mixing of inputs to a tele-operated vehicle

Okono

Langner³

et al. 2019

A simple expert system is described that helps wheelchair users to drive their wheelchairs. The expert system takes data in from sensors and a joystick, identifies obstacles and then recommends a safe route. Wheelchair users were timed while driving around a variety of routes and using a joystick controlling their wheelchair via the simple expert system. Ultrasonic sensors are used to detect the obstacles. The simple expert system performed better than other recently published systems. In more difficult situations, wheelchair drivers did better when there was help from a sensor system. Wheelchair users completed routes with the sensors and expert system and results are compared with the same users driving without any assistance. The new systems show a significant improvement.

“…The expert systems overcome that limitation and improve the control of a wheelchair. The systems decode joystick data [17,22] and sensor data [23][24][25] and mix them [26,27].…”

Section: Introductionmentioning

confidence: 99%

Using a Simple Expert System to Assist a Powered Wheelchair User

Okono

Langner³

et al. 2019

“…A joystick is used to provide an input that represents a desired direction and a speed and MCDM systems [1][2][3][4] are used to provide an input that modifies them if an obstacle needs to be avoided [24][25][26]. Computations consider both the wishes of the user and the distance to objects [27][28]. Procedures have been verified using simulations and with a wheelchair, as shown in figure 1.…”

Section: Introductionmentioning

confidence: 99%

Combining Multiple Criteria Decision Making with Vector Manipulation to Decide on the Direction for a Powered Wheelchair

Haddad

Gegov

et al. 2019

This paper describes the use of Weighed Aggregated Sum Product ASsessment (WASPAS) method to suggest a direction for a powered wheelchair. The method considers five directions as alternatives. The ultrasonic sensors readings are used as criteria weights. The overall score of the alternatives is converted to vector magnitudes and the directions of the alternatives are considered as vector angles. The suggested direction is represented as a resultant vector formed from the vector manipulation of the vectors magnitudes and angles. The suggested direction tends to move a powered wheelchair away from obstacles. The whole system helps disabled wheelchair users to drive their powered wheelchairs using a decision-making process. This paper presents that process along with a new way of selecting a best compromise direction. Three cases are considered, and a best compromised direction is suggested in each case. The user is able to override suggestions from WASPAS by holding a steering joystick in a set position.

“…A desired direction is provided by the human wheelchair driver and the sensor system [23][24][25] suggests a new direction. The final direction is an intelligent mixing of the two [26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Initial Results from Using Preference Ranking Organization Methods for Enrichment of Evaluations to Help Steer a Powered Wheelchair

Haddad

Tewkesbury

et al. 2019

Research is presented that uses the Preference Ranking Organization METHod for Enrichment of Evaluations II (PROMETHEE II) to determine a direction for a powered wheelchair. This is the first time this sort of decision making has been employed for this sort of use. A wheelchair user proposes a preferred speed and direction, and a decision-maker recommends a safe bearing. The two directions are combined so that the wheelchair safely avoids obstacles. Ultrasonic sensors and joysticks provide the inputs and the final direction is a combination of the preferred bearing and a route that safely avoids obstacles. The systematic decision-making process assists a powered wheelchair user with safely steering their wheelchair. Sensitivity analysis explores the potential directions and an appropriate direction is chosen that gives a robust solution. A user can override suggestions from the PROMETHEE II system by holding their joystick in a fixed place.